Dual-ring mounting device for X-ray detector of unmanned aerial vehicle

Abstract

The invention discloses a double-ring mounting device for an X-ray detector of an unmanned aerial vehicle, which comprises two groups of arc-shaped plates, the two groups of arc-shaped plates are symmetrically connected through a connecting plate, a suspension mechanism is arranged on the upper side of the connecting plate, a driving mechanism is arranged below the front arc-shaped plate, a dovetail groove is formed in the lower side surface of the front arc-shaped plate, and an arc-shaped sliding plate is arranged in the dovetail groove. First servo motors are symmetrically arranged on the lower side of the front arc-shaped plate, receiving plates are arranged at the two ends of the arc-shaped sliding plate, a lower hanging plate is arranged in the middle of the connecting plate, a second servo motor is arranged on the rear side of the lower hanging plate, and a ray transmitter is arranged on the front side of the lower hanging plate; the suspension mechanism is arranged to be matched with the X-ray detection structure suitable for the strain clamp of the multi-split conductor, accurate positioning and installation can be carried out through the unmanned aerial vehicle carrying device, intelligent automatic detection is achieved through remote control, and meanwhile through the movable double receiving plates and the rotating ray transmitter, the detection precision of the multi-split conductor strain clamp is improved. Omnibearing dead-corner-free detection of the strain clamp of the multi-split conductor can be realized, and the operation and detection level of the multi-split conductor is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line detection, and in particular to a double-ring mounting device for an unmanned aerial vehicle (UAV) X-ray detector. Background Art

[0002] The tension clamp is an important connecting hardware for high-voltage transmission lines. Once it breaks, it will cause the line to trip and power outage, affecting the safe and stable operation of the power grid. During construction acceptance or regularly checking the crimping quality of the tension clamp will help to discover safety hazards in a timely manner.

[0003] X-ray inspection technology can detect internal defects that are invisible to the naked eye, but traditional X-ray inspection requires power outage and manual tower climbing, which is a cumbersome process. Power outage inspection affects users' normal lives, and workers need to carry equipment to relocate, which poses a risk of falling from a height and being harmed by ionizing radiation.

[0004] The technology of using drones to carry X-rays to inspect single conductors has developed rapidly, which has improved the ability to inspect the crimping quality of line tension clamps. However, for complex multi-split conductor tension clamps, the installation position and space of the X-ray inspection device are limited due to obstruction by equalizing rings, adjacent sub-conductors, etc. Therefore, the present invention proposes a double-ring mounting device for a drone X-ray detector to solve the problems existing in the prior art. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to propose a double-ring mounting device for an unmanned aerial vehicle X-ray detector. The double-ring mounting device for an unmanned aerial vehicle X-ray detector is equipped with a suspension mechanism to cooperate with an X-ray detection structure suitable for a multi-split conductor tension clamp. The device can be accurately positioned and installed using an unmanned aerial vehicle carrying device, and intelligent automatic detection can be achieved through remote control. At the same time, through the movable dual receiving plates and the rotating ray transmitter, all-round and no-dead-angle detection of the multi-split conductor tension clamp can be achieved, thereby improving the operation and inspection level of the multi-split conductors, reducing the operation intensity of personnel, and ensuring the safe and stable operation of the lines.

[0006] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a double-ring mounting device for an unmanned aerial vehicle X-ray detector, comprising an arc plate, a connecting plate, a suspension mechanism, a driving mechanism and a detection mechanism, wherein the arc plate is provided with two groups and the two groups of arc plates are symmetrically connected by the connecting plate, a suspension mechanism is provided on the upper side of the connecting plate for mounting with an external carrier unmanned aerial vehicle, a driving mechanism is provided under the front side of the arc plate, and the detection mechanism comprises a dovetail groove, an arc sliding plate, a first servo motor, a receiving plate, a lower hanging plate , a second servo motor and a ray transmitter, a dovetail groove is arranged on the lower side of the front arc plate, an arc sliding plate is arranged in the dovetail groove, the upper end of the arc sliding plate is a dovetail slide structure, which is slidably adapted to the dovetail groove, a first servo motor is symmetrically arranged on the lower side of the front arc plate, receiving plates are fixedly arranged at both ends of the arc sliding plate, a lower hanging plate is fixedly arranged in the middle of the connecting plate, a second servo motor is arranged on the rear side of the lower hanging plate, a ray transmitter is arranged on the front side of the lower hanging plate, and the ray transmitter can be driven to rotate by the second servo motor.

[0007] A further improvement is that a tooth groove is arranged on the inner side of the arc-shaped sliding plate, a driving gear is arranged on the output end of the first servo motor, the driving gear meshes with the inner side of the tooth groove for transmission, and the dovetail groove and the lower part of both ends of the tooth groove are both provided with an opening structure.

[0008] Further improvements are: the output end of the second servo motor passes through the lower hanging plate and is connected to the ray transmitter on the front side, the axis of the output end of the second servo motor coincides with the central axis of the arc plate, extension plates are provided on the rear sides of both ends of the arc sliding plate, and the receiving plate is fixed on the extension plate and corresponds to the position of the ray transmitter.

[0009] Further improvements are: the suspension mechanism includes a fixed plate, a positioning through-slot, a clamping plate, a positioning clamping block, a two-way cylinder, a fixed seat and a clamping and positioning mechanism; a fixed plate is arranged in the middle of the upper side of the connecting plate, the fixed plate is longitudinally fixedly arranged parallel to the connecting plate, a positioning through-slot is arranged on the fixed plate, clamping plates are symmetrically arranged on both sides of the fixed plate, positioning clamping blocks are arranged on the opposite sides of the clamping plate to correspond to the positioning through-slot to achieve positioning clamping, a two-way cylinder is arranged between the upper sides of the clamping plates, a fixed seat is arranged on the two-way cylinder, and a clamping and positioning mechanism is arranged on the fixed seat to be fixedly connected to the external drone.

[0010] Further improvements are: the clamping and positioning mechanism includes a sliding groove, a bidirectional screw, a positioning splint and a clamping rubber block, the sliding groove is symmetrically arranged above the fixed seat, the positioning splint is arranged in the sliding groove through the bidirectional screw, the bidirectional screw passes through the positioning splint and is adapted to its thread, two groups of positioning splints are arranged on different thread sections of the bidirectional screw, and clamping rubber blocks are arranged on the opposite sides of the positioning splint.

[0011] A further improvement is that three-dimensional cameras are arranged on the front side of the fixing seat and the lower side of the middle connecting plate through a rotating pan-tilt system.

[0012] Further improvements are: the driving mechanism includes a fixed frame, a side vertical plate, a guide wheel and a driving motor, a fixed frame is arranged under the two groups of arc-shaped plates, the fixed frame is arranged horizontally, side vertical plates are symmetrically arranged under the fixed frame, two groups of side vertical plates are arranged perpendicular to the fixed frame, guide wheels are arranged on the outer side of the side vertical plates, and driving motors are symmetrically arranged between the side vertical plates under the front arc-shaped plates, the output end of the driving motor is connected to the guide wheel for transmission, and the guide wheel on the rear arc-shaped plate is driven.

[0013] A further improvement is that an anti-interference communication controller is arranged on the upper side of the fixing frame below the arc-shaped plate on the front side, and is controlled by remote remote control communication between the anti-interference communication controller and an external remote controller.

[0014] The beneficial effects of the present invention are as follows: by setting a suspension mechanism in conjunction with an X-ray detection structure suitable for multi-split conductor tension clamps, the present invention can utilize an unmanned aerial vehicle-mounted device for precise positioning and installation, and through remote control, realize intelligent automatic detection, without the need for manual tower climbing for detection, which is safe and reliable; at the same time, through a movable dual receiving plate and a rotating ray transmitter, all-round, no-dead-angle detection of multi-split conductor tension clamps can be realized, solving the drawbacks of traditional single-conductor detection devices, improving the level of multi-split conductor operation and inspection, reducing the intensity of personnel operation, and ensuring safe and stable operation of the line. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a partial cross-sectional view of the main suspension mechanism of the present invention.

[0016] Figure 2 It is a side view of the present invention.

[0017] Figure 3 It is a side sectional view of the present invention.

[0018] Figure 4 It is a detection schematic diagram of the receiving plate of the detection mechanism of the present invention being located at different positions.

[0019] Among them: 1. arc plate; 2. connecting plate; 3. dovetail groove; 4. arc sliding plate; 5. first servo motor; 6. receiving plate; 7. lower hanging plate; 8. second servo motor; 9. ray transmitter; 10. tooth groove; 11. driving gear; 12. extension plate; 13. fixing plate; 14. positioning through groove; 15. clamping plate; 16. positioning clamping block; 17. two-way cylinder; 18. fixing seat; 19. sliding groove; 20. two-way screw; 21. positioning clamping plate; 22. clamping rubber block; 23. rotating pan-tilt head; 24. three-dimensional camera; 25. fixing frame; 26. side plate; 27. guide wheel; 28. driving motor; 29. ​​anti-interference communication controller. DETAILED DESCRIPTION

[0020] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0021] according to Figure 1-Figure 4 As shown, this embodiment provides a double-ring mounting device for an unmanned aerial vehicle X-ray detector, including an arc plate 1, a connecting plate 2, a suspension mechanism, a driving mechanism and a detection mechanism. The arc plate 1 is provided with two groups and the two groups of arc plates 1 are symmetrically connected by the connecting plate 2. A suspension mechanism is provided on the upper side of the connecting plate 2 for mounting with an external carrier unmanned aerial vehicle. A driving mechanism is provided under the front arc plate 1. The detection mechanism includes a dovetail groove 3, an arc sliding plate 4, a first servo motor 5, a receiving plate 6, a lower hanging plate 7, a second servo motor Machine 8 and ray transmitter 9, a dovetail groove 3 is arranged on the lower side of the front arc plate 1, an arc sliding plate 4 is arranged in the dovetail groove 3, the upper end of the arc sliding plate is a dovetail slide structure, which is slidably adapted to the dovetail groove, a first servo motor 5 is symmetrically arranged on the lower side of the front arc plate 1, receiving plates 6 are fixedly arranged at both ends of the arc sliding plate 4, a lower hanging plate 7 is fixedly arranged in the middle of the connecting plate 2, a second servo motor 8 is arranged on the rear side of the lower hanging plate 7, and a ray transmitter 9 is arranged on the front side of the lower hanging plate 7, and the ray transmitter can be driven to rotate by the second servo motor.

[0022] A tooth groove 10 is arranged on the inner side of the arc-shaped sliding plate 4, and a driving gear 11 is arranged on the output end of the first servo motor 5. The driving gear 11 meshes with the inner side of the tooth groove 10 for transmission, and the dovetail groove and the lower part of both ends of the tooth groove are both arranged with opening structures.

[0023] The output end of the second servo motor 8 passes through the lower hanging plate 7 and is connected to the ray transmitter 9 on the front side. The axis of the output end of the second servo motor 8 coincides with the central axis of the arc plate 1. Extension plates 12 are provided on the rear sides of both ends of the arc sliding plate 4. The receiving plate 6 is fixed on the extension plate 12 and corresponds to the position of the ray transmitter 9. After the ray transmitter is rotated, it can correspond to the receiving plate for detection.

[0024] The suspension mechanism includes a fixed plate 13, a positioning through-slot 14, a clamping plate 15, a positioning clamping block 16, a two-way cylinder 17, a fixing seat 18 and a clamping and positioning mechanism. A fixed plate 13 is arranged in the middle of the upper side of the connecting plate 2, and the fixed plate is longitudinally fixedly arranged parallel to the connecting plate. A positioning through-slot 14 is arranged on the fixed plate 13, and clamping plates 15 are symmetrically arranged on both sides of the fixed plate 13. Positioning clamping blocks 16 are arranged on the opposite sides of the clamping plate 15 and correspond to the positioning through-slot 14 to achieve positioning clamping. A two-way cylinder 17 is arranged between the upper sides of the clamping plates 15, and a fixing seat 18 is arranged on the two-way cylinder 17. A clamping and positioning mechanism is arranged on the fixing seat 18 and fixedly connected to an external drone. The fixed plate and the clamping plate are split structures, which are first fixed to the drone through the clamping and positioning mechanism, and then the drone is controlled to carry the lower structure and the fixed plate for positioning and clamping adaptation to achieve the mounting of the detection structure.

[0025] The clamping and positioning mechanism includes a sliding groove 19, a bidirectional screw 20, a positioning splint 21 and a clamping rubber block 22. The sliding groove 19 is symmetrically arranged above the fixed seat 18. The positioning splint 21 is arranged in the sliding groove 19 through the bidirectional screw 20. The bidirectional screw passes through the positioning splint and is adapted to its thread. Two groups of positioning splints are arranged on different thread sections of the bidirectional screw. A clamping rubber block 22 is arranged on the opposite side of the positioning splint 21 for clamping and fixing the drone.

[0026] A three-dimensional camera 24 is movably provided on the front side of the fixing seat 18 and the lower side of the middle connecting plate 2 via a rotating platform 23 .

[0027] A three-dimensional camera can detect the distance information of the shooting space and obtain the three-dimensional spatial coordinates of each point in the image. This type of camera uses different technical principles to measure spatial distance. Common technologies include structured light, time-of-flight (TOF) and binocular stereo vision.

[0028] In this application, the three-dimensional camera on the front side of the suspension mechanism can achieve precise matching of the X-ray detection device and the installation point, and the three-dimensional camera under the connecting plate can obtain the relative position between the ray transmitter and the two sets of receiving plates to realize the detection of multiple split wires; at the same time, the cooperation of the two three-dimensional cameras can determine whether it is mounted in the operable position on the cable according to the three-dimensional position relationship of the three objects: the drone, the mounting device, and the cable.

[0029] The driving mechanism includes a fixed frame 25, a side vertical plate 26, a guide wheel 27 and a driving motor 28. The fixed frame 25 is arranged below the two groups of arc-shaped plates 1, and the fixed frame is arranged horizontally. The side vertical plates 26 are symmetrically arranged below the fixed frame 25. Two groups of side vertical plates are arranged perpendicular to the fixed frame. Guide wheels 27 are arranged on the outer sides of the side vertical plates 26. The driving motor 28 is symmetrically arranged between the side vertical plates 26 below the front arc-shaped plate 1. The output end of the driving motor 28 is connected to the guide wheel 27 for transmission. The guide wheel on the rear arc-shaped plate is driven, and the guide wheel driven by the front driving motor actively rotates to drive the device to move as a whole.

[0030] An anti-interference communication controller 29 is arranged on the upper side of the fixing frame 25 below the front arc plate 1. Through the remote control communication control between the anti-interference communication controller 29 and an external remote controller, remote control can be realized, and the stability, flexibility and reliability are all improved.

[0031] When the double-ring mounting device for the X-ray detector for unmanned aerial vehicles is used, the lower structure of the fixing seat is first fixed to the lower part of the carrying unmanned aerial vehicle through the clamping and positioning mechanism, and then the lower clamping plate and the fixing plate are clamped and positioned by controlling the unmanned aerial vehicle. Then, the unmanned aerial vehicle can be taken off through the unmanned aerial vehicle carrying device, and the lower structure is accurately positioned and placed on the transmission line by two sets of three-dimensional cameras, and the guide wheels on both sides are placed on the transmission line, and the driving motor drives it to move;

[0032] During the inspection, two sets of servo motors are used to control the ray transmitter and the receiving board respectively to perform inspections, and adjust the angles in turn to realize the inspection of different transmission line tension clamps. After the inspection is completed, the device is reset, and then the drone takes off, positions the clamp, and lifts it away from the transmission line, and then unloads it.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A double-ring mounting device for an unmanned aerial vehicle X-ray detector, characterized in that: The invention comprises an arc plate (1), a connecting plate (2), a suspension mechanism, a driving mechanism and a detection mechanism. The arc plate (1) is provided with two groups and the two groups of arc plates (1) are symmetrically connected by the connecting plate (2). The upper side of the connecting plate (2) is provided with a suspension mechanism. The lower side of the front arc plate (1) is provided with a driving mechanism. The detection mechanism comprises a dovetail groove (3), an arc sliding plate (4), a first servo motor (5), a receiving plate (6), a lower hanging plate (7), a second servo motor (8) and a ray transmitter (9). The lower side of the front arc plate (1) is provided with a dovetail groove (3). The dovetail groove (3) is provided with an arc sliding plate (4). The lower side of the front arc plate (1) is symmetrically provided with a first servo motor (5). Receiving plates (6) are provided at both ends of the arc sliding plate (4). The middle part of the connecting plate (2) is provided with a lower hanging plate (7). The rear side of the lower hanging plate (7) is provided with a second servo motor (8). The front side of the lower hanging plate (7) is provided with a ray transmitter (9).

2. A double-ring mounting device for an unmanned aerial vehicle X-ray detector according to claim 1, characterized in that: The inner side surface of the arc-shaped sliding plate (4) is provided with a tooth groove (10), and the output end of the first servo motor (5) is provided with a driving gear (11), and the driving gear (11) is meshed with the inner side of the tooth groove (10) for transmission.

3. The double-ring mounting device for an unmanned aerial vehicle X-ray detector according to claim 1, characterized in that: The output end of the second servo motor (8) passes through the lower hanging plate (7) and is connected to the ray transmitter (9) on the front side. The axis of the output end of the second servo motor (8) coincides with the central axis of the arc plate (1). Extension plates (12) are provided at the rear sides of both ends of the arc sliding plate (4). The receiving plate (6) is fixed on the extension plate (12) and corresponds to the position of the ray transmitter (9).

4. The double-ring mounting device for an unmanned aerial vehicle X-ray detector according to claim 1, characterized in that: The suspension mechanism comprises a fixing plate (13), a positioning through-groove (14), a clamping plate (15), a positioning clamping block (16), a bidirectional cylinder (17), a fixing seat (18) and a clamping positioning mechanism. A fixing plate (13) is provided in the middle of the upper side of the connecting plate (2). The fixing plate (13) is provided with a positioning through-groove (14). Clamping plates (15) are symmetrically provided on both sides of the fixing plate (13). Positioning clamping blocks (16) are provided on the opposite sides of the clamping plate (15) and are correspondingly matched with the positioning through-groove (14). A bidirectional cylinder (17) is provided between the upper sides of the clamping plate (15). A fixing seat (18) is provided on the bidirectional cylinder (17). The fixing seat (18) is provided with a clamping positioning mechanism and is fixedly connected to an external drone.

5. The double-ring mounting device for an unmanned aerial vehicle X-ray detector according to claim 4, characterized in that: The clamping and positioning mechanism comprises a sliding groove (19), a bidirectional screw (20), a positioning clamping plate (21) and a clamping rubber block (22); the sliding groove (19) is symmetrically arranged above the fixing seat (18); a positioning clamping plate (21) is arranged in the sliding groove (19) via the bidirectional screw (20); and a clamping rubber block (22) is arranged on the opposite side of the positioning clamping plate (21).

6. The double-ring mounting device for an unmanned aerial vehicle X-ray detector according to claim 4, characterized in that: The front side of the fixing seat (18) and the lower side of the middle connecting plate (2) are both provided with three-dimensional cameras (24) via a rotating pan-tilt platform (23).

7. The double-ring mounting device for an unmanned aerial vehicle X-ray detector according to claim 1, characterized in that: The driving mechanism comprises a fixing frame (25), a side vertical plate (26), a guide wheel (27) and a driving motor (28); a fixing frame (25) is provided below the two groups of arc-shaped plates (1); side vertical plates (26) are symmetrically provided below the fixing frame (25); guide wheels (27) are provided on the outer side surfaces of the side vertical plates (26); a driving motor (28) is symmetrically provided between the side vertical plates (26) below the front arc-shaped plate (1); and an output end of the driving motor (28) is connected to the guide wheel (27) for transmission.

8. The double-ring mounting device for an unmanned aerial vehicle X-ray detector according to claim 7, characterized in that: An anti-interference communication controller (29) is provided on the upper side of the fixing frame (25) below the arc-shaped plate (1) on the front side.

Images